CN101101333A - Apparatus and method for producing assistant information of driving vehicle for driver - Google Patents
Apparatus and method for producing assistant information of driving vehicle for driver Download PDFInfo
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- CN101101333A CN101101333A CNA200710128113XA CN200710128113A CN101101333A CN 101101333 A CN101101333 A CN 101101333A CN A200710128113X A CNA200710128113X A CN A200710128113XA CN 200710128113 A CN200710128113 A CN 200710128113A CN 101101333 A CN101101333 A CN 101101333A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/28—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with an adjustable field of view
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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Abstract
The invention provides a method for generating auxiliary information of driver on the running car. The said method reconstructs the running circumference into image based on sensor for removing blind point around the running car and scheme for exactly detecting carriageway and car and collision warnning is sent in the present of collision possibility. The said method is based on carriageway identifying method for a variety of carriageway circumference including linetype of carriageway, curvature, loss and so on. The identifying result of forehand/rearward car is intergrated to increase the stability of carriageway identifying and diferentiating the real line carriageway and dotted line carriageway, therefor ethe refined danger level can be provided to the driver. In addition, when the car deviates the carriageway, the voice warnning can be outpue and reconstruct the car position into image.
Description
Technical field
The present invention relates to relate in general to a kind of equipment and method that is used to produce the driver auxiliary information of traveling vehicle, more particularly, relate to a kind of equipment and method that is used to produce the driver auxiliary information of traveling vehicle, thereby the driver can easily discern the position of the adjacent vehicle on road conditions and all directions of traveling vehicle by lane identification and vehicle detection.
Background technology
When vehicle carries out, owing to carelessness is driven, relatively poor reasons such as visibility, rear-end collision takes place continually.That is to say, when rainy day or nighttime driving, in long distance is driven, owing to reasons such as relatively poor visibility, driver's wholwe-hearted degree are not enough, can take place the traffic hazard that causes by deviation and with the rear-end collision of traveling vehicle.This traffic hazard is usually owing to driver's carelessness takes place.If the driver can estimate this situation in 2 to 3 seconds in advance and suitably handle described situation, then described accident can reduce more than 50% or can become minor accident.In order to prevent this knocking into the back, driver assistance system can be provided, this system can recognize position and speed between vehicle by vehicle detection, and can provide such as conflict alert between vehicle, collision avoid, Ruiss Controll information such as (cruise control).This driver assistance system can provide travel information or warning against danger and prevent security incident by initiatively interfering, thereby the driver can be convenient more and steering vehicle safely.For this driver assistance system, after deliberation comprise back parking warning system, lane-departure warning system, sleepy driving warning system etc. supplementary produce system and lane departure prevention system, intelligent cruise control system etc., they can be carried out initiatively to drive and control and speed control.
In order to extract track or adjacent vehicle information, aforesaid traditional driver assistance system makes and ins all sorts of ways, these methods are used for from track, phase machine testing the place ahead, be used for from phase machine testing front vehicles, be used for by using the detections of radar front vehicles, be used for being installed in the vehicle that the camera that is used for the side mirror place that the rear monitors detects side/rear, be used for by using the side ultrasonic sensor to detect the vehicle etc. of side by use.The information of extracting about main carriageway and vehicle is used to produce effective information, can described effective information be sent to the driver to be used to estimate the relative position in traveling vehicle and track by the whole bag of tricks, be used to estimate the deviation time point, be used to estimate relative distance and relative velocity with adjacent vehicle, and be used for by using the information of estimating to estimate to collide between vehicle.In addition, the vibrations of warning sound, emergency warning lamp, bearing circle or operating seat etc. have been used as the interface (interface) that is used for the effective information that extracts to the Pilot Report.Except being used to report the means of unsafe condition, the method that is used for showing continuously the situation of advancing has made and has ined all sorts of ways, these methods are used to show the vehicle in position and distance and forthright the place ahead of traveling vehicle, be used to show about handle the information of vehicles of road line style (road shape) information of extracting by the sensor that comprises camera, radar and laser, be used for the position of the vehicle that overlapping demonstration simultaneously extracts by the road information that produces from map data base and range information etc.
Aforesaid traditional driver assistance system has required accurate environment identification and suitable information to transmit, but it mainly only monitors the information about crash behavior between the vehicle at route deviation or vehicle front or side/rear, and only transmits finite information to the driver.Therefore, for example, because possible obstacle in the vehicle, so described system has intrinsic defective.For the environment identification of all directions, need suitable transducer arrangements to remove the blind spot of vehicle by the sensor that uses minimum number, the place ahead, rear, right side/left side information must be exchanged and be integrated, and are combined and be not only.Only monitor that by traditional simple interface there is restriction in the composite signal aspect that the driver of the place ahead situation transmits about all directions to main, wherein, described composite signal such as forward/rear/right side/left-hand lane condition, corresponding vehicle condition, with distance, speed, collision or the non-collision etc. of adjacent vehicle.
Because prior art shows advance vehicle-state and road conditions, but also only extract the line style of road by curvature information not considering to extract under the situation of road information, so can not recognize information about right side/left-hand lane.That is to say, the tradition Research on Lane Detection Based on Hough Transform (promptly, about carry out the technology of lane identification from image) only extract the track part by the luminance difference of using track and road, and pass through anti-perspective and handle the curvature of the gradient (slope) in calculating track with the calculating track, perhaps cover the rim detection that (mask) carry out and extract the track part, and calculate each gradient in short distance and the long distance to calculate the curvature in track by utilization.Although can at random regard various distances as long distance and short distance, as employed, think that short distance is less than or equal to 20 meters here, and think that long distance is greater than 20 meters.In addition, described technology is estimated the line style in track and the vehicle position for the track by this lane identification, and by using voice to warn deviation.Yet, because this lane recognition method is not handled the change of carriageway image or brightness aspect adaptively, therefore can easily not extract the track candidate, the overall performance of lane identification system can reduce, and needs the plenty of time that image is carried out anti-perspective processing.
Road with curvature is owing to the reason of perspective effect is counted as having the straight line of constant slope and has curve than small curve in short distance, but described road has bigger curvature in long distance.In addition, in long distance, based on the track condition, the track candidate compares not enough to some extent with the short distance situation.Therefore, be difficult to accurately estimate curvature: only utilize short distance information to estimate the overall curvature in track, or detect the track candidate in the long distance and calculate curvature thus by the curvature value that use is preset by following processing.In order accurately to estimate the curvature in track, be necessary to provide a kind of like this method, it can find out the exact position in track in the short distance, calculating is positioned at the track candidate's of long distance curvature, the position in itself and short distance track is compared, and accurately find out and be positioned at long distance and short-range track.
When vehicle ' to the track or the track because during discarded former thereby waste and old or fuzzy of road, be necessary to provide a kind of can be based on about the clearly information in track and the method that lane width information is estimated the track.In addition, being necessary provides following processing to replace lane detection: formulate the relation between track and the camera, accurately calculate the position relation between track and the vehicle thus.Can concern based on the line style in track and the position between track and the vehicle and estimate the lane detection time point.Yet, when vehicle when center line departs from or drive towards the roadside, the possibility of security incident can increase usually.Consider this point, be necessary dotted line track and solid line track are distinguished that integration that need to use the forward/rear lane identification is carried out noise removing so that handle road conditions along with back of the body lamp or crossroad and different situations.
Simultaneously, in order to produce road information by the use map data base, the position measurement means should be accurate, but it only can be used for having set up the road of map data base usually.Be difficult to the position measurement means are applied to the driver assistance system that use location and directional information replace the apparent position relation of track and vehicle.In addition, because traditional driver assistance system only monitors the place ahead of traveling vehicle, so be difficult to overcome the restriction of this system.
Summary of the invention
Therefore, realize that the present invention is to solve the problems referred to above that occur in the prior art, the invention provides a kind of equipment and method that is used to produce the driver auxiliary information of traveling vehicle, thereby the driver can easily discern environment around the adjacent vehicle on road and all directions of traveling vehicle by lane identification and vehicle detection.
The present invention also provides a kind of equipment and method, this equipment and method can accurately be discerned straight line track and curve track, solid line track or dotted line track, even can accurately discern the track driving on the track owing to traveling vehicle or track waste and old when cannot see the track.
According to an aspect of the present invention, a kind of equipment that is used to produce the driver auxiliary information of traveling vehicle is provided, described equipment comprises: at least one picture receiver, it is installed on the traveling vehicle to be used to take the forward/rear image, wherein, picture receiver provides the forward/rear image of shooting; At least one ultrasonic signal receiver, it is installed on the traveling vehicle, and wherein, the ultrasonic signal receiver sends ultrasonic signal, and in ultrasonic signal time of return computed range information based on ultrasonic signal after another vehicle reflects; The lane identification device is used for from forward/rear image detection track, determines whether the track of detecting is one of solid line track and dotted line track, and the recognition result of synthetic forward/rear vehicle is to produce the image of road; Car identifier, be used for being set to interesting areas by the lane identification result's road area that uses the lane identification device, by using image and ultrasonic signal to detect vehicle, by using the distance that obtains from the ultrasonic signal that receives by the ultrasonic signal receiver to detect vehicle, determine the trend of advancing of vehicle based on the change of distance, and export the position of vehicle in the vehicle coordinate system; And the environment reconfiguration unit, be used for producing driver auxiliary information by the image that will be applied to think highly of structure by the vehicle that car identifier detects by lane identification.
According to a further aspect in the invention, a kind of method that produces driver auxiliary information by traveling vehicle is provided, described traveling vehicle comprises: at least one picture receiver, it is installed on the traveling vehicle to be used to take the forward/rear image, and picture receiver provides the forward/rear image of shooting; At least one ultrasonic signal receiver, it is installed on the traveling vehicle, the ultrasonic signal receiver sends ultrasonic signal, and ultrasonic signal after another vehicle reflects based on hyperacoustic time of return computed range information; Described method comprises: from forward/rear image detection track; Determine whether the track of detecting is one of solid line track and dotted line track; The recognition result of synthetic forward/rear vehicle is to produce the image of road; Be set to interesting areas by use lane identification result road area, and by using image and ultrasonic signal to detect vehicle; By using the distance that obtains from the ultrasonic signal that receives by the ultrasonic signal receiver to detect vehicle, determine the trend of advancing of vehicle based on the change of distance, and export the position of vehicle in the vehicle coordinate system; And produce driver auxiliary information by the image that the vehicle that will detect is applied to reconstruct.
Description of drawings
By the detailed description of carrying out below in conjunction with accompanying drawing, above and other objects of the present invention, characteristics and advantage will become apparent, wherein:
Fig. 1 illustrates the diagrammatic sketch that has the vehicle of ultrasonic sensor, camera and speed detector according to of the present invention;
Fig. 2 is the block diagram according to the driver auxiliary information generator of traveling vehicle of the present invention;
Fig. 3 is the block diagram of the lane identification device among Fig. 2;
Fig. 4 A, Fig. 4 B and Fig. 4 C are the diagrammatic sketch that illustrates according to the driver auxiliary information of traveling vehicle of the present invention;
Fig. 5 illustrates the process flow diagram that carries out road reconstruct by the forward/rear track of identification traveling vehicle according to the present invention;
Fig. 6 is the process flow diagram that illustrates according to lane identification of the present invention;
Fig. 7 illustrates the screen that is used for the processing of lane identification according to of the present invention;
Fig. 8 A, Fig. 8 B and Fig. 8 C are the screens that obtains by reconstruct lane identification result according to the present invention;
Fig. 9 illustrates the process flow diagram that is used for the processing of side vehicle identification according to of the present invention;
Figure 10 illustrates the screen of handling according to side of the present invention vehicle identification;
Figure 11 illustrates the process flow diagram of processing that is used for producing based on track and vehicle identification the driver auxiliary information of traveling vehicle according to of the present invention;
Figure 12 A, Figure 12 B and Figure 12 C are the screens that illustrates according to the driver auxiliary information of the traveling vehicle that produces by track and vehicle identification of the present invention; And
Figure 13 illustrates the process flow diagram that is used for the processing of conflict alert according to of the present invention.
Embodiment
Below, explanation the preferred embodiments of the present invention are described with reference to the accompanying drawings.It should be noted that: although identical parts are indicated them shown in the different accompanying drawings by identical label.In addition, in the accompanying drawing below, in the time theme of the present invention can being blured here, omit detailed description to them at this to the detailed description of the known function that comprises and configuration.
The invention provides a kind of method that is used to form the sensing system that comprises camera and ultrasonic sensor, described sensing system is used to remove the blind spot of vehicle, combination by forward/rear lane identification, forward/rear vehicle detection, right side/left side vehicle detection and forward/rear information of vehicles and right side/left side information of vehicles removes blind spot, and discern environment on all directions, generation is used to observe the road of generation and the general view picture of information of vehicles thus, and warning function is provided when having risk of collision.In addition, the invention provides a kind of method, this method be used for when detecting the track by use be installed in that camera on the vehicle is discerned simultaneously and synthetic track so that look like to draw the track at general view, and in the general view picture, draw the track comprise solid line track and dotted line track, thereby the vehicle that the driver can easily determine driver run-off-road whether.
Example according to traveling vehicle of the present invention comprises the driver auxiliary information generator, and as shown in Figure 1, it has: 2 cameras, 8 ultrasonic sensors, monitor, loudspeaker, processor and a speed detector.Can change the actual quantity of camera, ultrasonic sensor and monitor as required.
Describe the operation that the traveling vehicle with driver auxiliary information generator produces driver auxiliary information with reference to Fig. 2, Fig. 2 illustrates according to driver auxiliary information generator of the present invention.The driver auxiliary information generator comprises: sensor receiver 200, it has forward/rear picture receiver 202 and ultrasonic signal receiver 204, lane identification device 210, car identifier 230, environment reconfiguration unit 220 and conflict alert generator 240.Forward/rear picture receiver 202 receives image, ultrasonic signal receiver 204 received ultrasonic signals from camera and ultrasonic sensor.Track around the lane identification device 210 identification traveling vehicles, vehicle around the car identifier 230 identification traveling vehicles and the obstacle around the traveling vehicle.Environment reconfiguration unit 220 is reconstructed into image such as three-dimensional (3D) general view picture from the track detected and vehicle with road and vehicle, and conflict alert generator 240 determines whether any collision takes place in the middle of vehicle.
With reference to Fig. 3 lane identification device 210 is described.Lane identification device 210 according to the present invention comprises: forward/rear lane identification unit 212 is used for from the image recognition track from 202 inputs of forward/rear picture receiver; Solid line/dotted line determining unit 214, being used to detect the track is solid line track or dotted line track; And lane identification is synthetic and reconfiguration unit 216, is used for the recognition result in synthetic forward/rear track, and will synthesize the result and be reconstructed into image such as the general view picture.
On behalf of the track equation of track and vehicle location, environment reconfiguration unit 220 determine that the track is solid line or dotted line by synthetic.When the track was solid line, environment reconfiguration unit 220 was regarded the track edge of road as, to this, has no longer added the track.When the track was dotted line, environment reconfiguration unit 220 added a track, and the quantity in track is set subsequently.In order to prevent the driver owing to the frequent change of the curvature aspect of reconstruct road feels chaotic, environment reconfiguration unit 220 quantizes the line style of road to produce road model by the curved transition according to road.In addition, environment reconfiguration unit 220 is arranged vehicle on the track of the road that produces, and forms the image such as the 3D road image, and in described image, the driver can easily adjust the visual field.Then, environment reconfiguration unit 220 impels by display unit 250 road image is presented on the screen.Shown in Fig. 4 C, vehicle and the road image that forms by environment reconfiguration unit 220 can be presented on the screen.Fig. 4 A illustrates the image of being taken by the place ahead camera, and Fig. 4 B illustrates the image of being taken by the rear camera.
In the present invention, to describe following the processing, by this processing: the environment reconfiguration unit 220 of driver auxiliary information generator will and be reconstructed into the image such as the general view picture of road by the track of lane identification device 210 identifications by the adjacent vehicle of car identifier 230 identifications.To Fig. 8 C the driver auxiliary information generator is carried out lane identification by lane identification device 210 processing is described with reference to Fig. 5, describing the driver auxiliary information generator with reference to Fig. 9 obtains about the processing by the information (that is, side vehicle identification and travel information) of the adjacent vehicle of car identifier 230 identifications.In addition, with reference to Figure 11 the processing with the driver auxiliary information that produces traveling vehicle of the track of reconstruct identification and vehicle is described.
Describe lane identification device 210 with reference to Fig. 5 and carry out the identification in forward/rear track of traveling vehicles and the processing of environment reconfiguration unit 220 reconstruct roads.
In step 500, lane identification device 210 receives the forward/rear image from forward/rear picture receiver 202.In step 502, the image recognition track of lane identification device 210 from receiving.Describe by step 502 from operation with reference to Fig. 6 from the image recognition track of forward/rear picture receiver 202 input.When in step 600 from the place aheads of forward/rear picture receiver 202 input vehicles or during the image of rear, lane identification device 210 changes according to the brightness of image in step 602 and extracts the track candidate.Then, the track candidate's that lane identification device 210 produce to extract in step 604 histogram, and determine to be adjacent to the position in the track of traveling vehicle in step 606.Usually, prior art is calculated the gradient in track based on carriageway image.Yet, because the present invention is only by using histogram to determine the position in track, so the gradient in track is unnecessary.In step 608, lane identification device 210 calculates the track candidate's who is positioned at long distance curvature.When needs, lane identification device 210 also can calculate the curvature that is positioned at short-range track candidate.In step 610, lane identification device 210 is long apart from the track by using the curvature of calculating in step 608 to discern.Prior art is calculated the curvature in track based on the gradient in track, is applied to lane identification but in fact the present invention calculates curvature with the curvature that will calculate.
In step 504, lane identification device 210 determines that the track of detecting is solid line or dotted line.In step 506, the recognition result of lane identification device 210 synthetic forward/rear vehicles and the result that will synthesize are reconstructed into the image such as the general view picture.In step 508, lane identification device 210 will be presented on the screen at the image of step 506 reconstruct.
Use description to now determine that the track is the solid line or the operation of dotted line.Lane identification device 210 is determined solid line and dotted line by using the following fact from input picture: for solid line, have only highlights to divide continuously and occur, but for dotted line, dark-part and highlights divide periodically and occur.As shown in Figure 7, by the zone of R indication, by L by the place, track of track Search Results acquisition
iThe actual zone of drawing the track of indication is then by zoning R and L
iRatio determine that the track that obtains is solid line or dotted line.When drawing the track with the form of dotted line, dark-part and highlights branch periodically appear in the region R.Yet, when drawing the track, have only highlights to divide and appear in the region R continuously with the form of solid line.Shown in equation (1), zoning R and L
iRatio to determine solid line rate (Solid Rate) value.
When solid line rate value during greater than threshold value, described track is a solid line.When solid line rate value was less than or equal to threshold value, described track was a dotted line.
In this way, determine that by use the brightness in track via equation (1) track is solid line or dotted line, thereby can and be close to the type that the track is determined in brightness arbitrarily according to road.Consider this point, in the present invention, determine the type in track based on the track that obtains from the place ahead image from the image of forward/rear picture receiver 202 inputs, and determine the type in track based on the track that obtains from the rear image from the image of forward/rear picture receiver 202 inputs.Result as determining when described two types track is inconsistent each other, determines the type in track based on following three conditions.
(1) when having only the lane identification success of the place ahead image, will be applied to the rear image from the type and the curvature in the track that the place ahead image obtains.
(2) when having only the lane identification success of rear image, will be applied to the place ahead image from the type and the curvature in the track that the place ahead, back image obtains.
(3) when two types track not simultaneously, in statu quo keep the track of existing type.
When the lane information of identification not have to surpass continuously the reconstruct type in 5 frames and road track when consistent, the type in modification track when the reconstruct road.
Then, determine the type and the reconstruct road in track.Use description to the processing of reconstruct road now.The present invention uses road model.That is to say, produce the ordinary road model in advance, road model of preparing and the track that obtains by input picture are compared.Then, the road model with the most approaching value from the track that image obtains is used to the reconstruct track.
As following by shown in the equation (2), will indication from the value " a " and track curvature R=[-0.00125 of the curvature in the track that image obtains ,-0.00115 ..., 0.00115,0.00125] element compare, described R is pre-prepd one group of road model.Then, shown in equation (3), determine to belong to the boundary value Bn1 and the Bn2 of value " a ", shown in equation (4), calculate the mean value of Bn1 and Bn2, and determine to be applied to the value " A " of reconstruct road.
In this way, even the track that obtains in every frame is different slightly, but the track value changes within the scope of boundary value Bn1 and Bn2, when road during by reconstruct, also carries out the modeling of steady state value.
f(y)＝ax
2+bx+c ...(2)
if?a＞R(i-1)and?a＜R(i)
B
n1＝R(i-1)，B
n2＝R(i) ...(3)
A＝(B
n1+B
n2)/2 ...(4)
By in the identification of image, can report the track of road in the long distance by mistake owing to error.Therefore, when without change ground reflection identification as a result the time, the change of certain degree ground takes place in curvature at once, thus, can change to the road of direction bending left suddenly to the road of right bending, this will cause factitious change.That is to say, the track that obtains in the track of discerning in present frame and previous frame is compared, owing to error or the quick change of road when occurring surpass the change of threshold value of lane identification in handling, when it is reflected to the road model that is used for the reconstruct road, certain degree ground can take place and change in the road of reconstruct at once, and this will cause driver's confusion.Therefore, in the present invention, in order to prevent confusion, when boundary value Bn1 that in the variation of the road of identification surpasses image formerly, determines and the scope of Bn2, shown in equation (5), do not consider situation of change, the most approaching contiguous model that has been used for the road model of road reconstruct is used for ensuing road reconstruct, thereby can minimize the error of understanding the road reconstruct that causes by unusual lane identification.For example, when the value of the track curvature R that obtains from image when-0.00125 changes to 0.00125, progressively be increased to-0.00115 from-0.00125 ..., 0.00115,0.00125 track curvature reflected carrying out road reconstruct, rather than utilizes steeper track curvature to come another road of reconstruct.
if(a＜B
n1)
B
n1＝R(i-2)，B
n2＝R(i-1)
else?if(a＞B
n2)
B
n1＝R(i)，B
n2＝R(i+1) ...(5)
F
L(Y)＝AX
2+0·X-1.7
F
R(Y)＝AX
2+0·X+1.7 ...(6)
if?left?lane?is?a?dot?lane
FLL(Y)＝AX
2+0·X-3.4
if?right?lane?is?a?dot?lane
F
RR(Y)＝AX
2+0·X+3.4 ...(7)
When determining to be used to the parameter A of road reconstruct, determine to be used to the right-hand lane and the left-hand lane of road reconstruct by top equation (6) by top equation (4).When the track that will be used to road reconstruct was the dotted line track, another track was present in and is adjacent to traveling vehicle just along its track of advancing.Therefore, the F in equation (6)
LWhen (Y) being the dotted line track, shown in equation (7), the form with the solid line track produces F in addition
LL(Y).In addition, the F in equation (6)
RWhen (Y) being the dotted line track, shown in equation (7), the form with the solid line track produces F in addition
RR(Y), thus can be similar to the road environment that traveling vehicle advances just therein comes the reconstruct road.In this way, in the present invention, when the track of a side be cannot see, can estimate described invisible track about the information in offside track by using.That is to say that the driver's hindering factor for the quick change that reduces by road causes realizes the change gradually to contiguous model.Can be in the example of Fig. 8 A to the recognition result of aforesaid reconstruct forward/rear vehicle shown in Fig. 8 C.Fig. 8 A illustrates from the place ahead image of forward/rear picture receiver 202 inputs, and Fig. 8 B illustrates from the rear image of forward/rear picture receiver 202 inputs.Lane identification device 210 detects the track from the place ahead image and rear image as shown in Figure 5 and Figure 6, and can show the reconstructed image based on traveling vehicle 404, such as the image of 3D aerial view form.
Describe with reference to Figure 11 and to be used to obtain about the identification of the adjacent vehicle (side vehicle) by car identifier 230 identifications and the processing of travel information, and the processing that is used for the driver auxiliary information that track and vehicle by reconstruct identification produce traveling vehicle.In forward/rear vehicle checking method of the present invention, be set to interesting areas by the lane identification result's road area that uses lane identification device 210, and by using image and ultrasonic signal to detect vehicle.Can be by day and the identification that realizes the forward/rear vehicle night.By day, the hatching pattern that appears between vehicle and the road by use detects the vehicle candidate, and the right side by utilizing vehicle/left side edge is formed and discerned vehicle about the pre-knowledge of vehicle width.At night, the head lamp by vehicle and taillight extracts and recognition image.In addition, detect right side/left side vehicle, determine the trend of advancing of vehicle by the change of service range by using the distance that obtains from 3 ultrasonic sensors.
With reference to Fig. 9, in step 900, from 3 sonars (that is ultrasonic sensor) that are installed in the vehicle right side as shown in Figure 1 and 3 ultrasonic sensor received ultrasonic signals that are installed in vehicle left side.That is to say ultrasonic signal receiver 204 received ultrasonic signals of Fig. 2.Then, ultrasonic signal receiver 204 outputs to car identifier 230 with the ultrasonic signal that receives.In step 902, car identifier 230 detects vehicle by using the range information that obtains from ultrasonic signal.When from one or more ultrasound examinations to vehicle, car identifier 230 judges whether to detect the trend of advancing that ultrasound wave is determined the vehicle of advancing in the side track in step 906 by the passing according to the time.Shown in equation (8), represent from the ultrasonic signal of 3 ultrasonic sensor outputs that are installed in the vehicle side by comprising 0 and 1 bit stream.When automobile storage the time, if distance value is less than 3m, then bit stream is set to 1.Otherwise bit stream has value 0.For example, with reference to the image of Figure 10, when the left side vehicle caught up with traveling vehicle, bit stream was increased to [111] from [001], reduced to [100] from [111] subsequently.Car identifier 230 is by the trend of advancing that increases continuously and reduce to determine the side vehicle of bit stream.
b＝[s
1?s
2?s
3]，s
i∈[0，1] ...(8)
With reference to Figure 11, in step 10 and 12, environment reconfiguration unit 220 handles to determine that by lane identification as shown in Figure 5 and Figure 6 the track is solid line track or dotted line track, and estimates road model.In order to arrange vehicle according to newly-installed road model in step 14, environment reconfiguration unit 220 in new road model, and is arranged the relational application between previous track and the vehicle by forward/rear vehicle detection as shown in Figure 9 and is handled and the side vehicle detection is handled the vehicle of detection.In step 16, environment reconfiguration unit 220 shows the longitudinal distance by the forward/rear vehicle being used OpenGL (OpenGL), and by using OpenGL to show latitude direction distance to right side/left side vehicle.In addition, environment reconfiguration unit 220 is differently represented the color of the auto model in each track, and the reconstruct 3D rendering, and in this 3D rendering, the driver can easily adjust the visual field.Can be as the layout example of Figure 12 A to the road and the vehicle of reconstruct shown in Figure 12 C.Figure 12 C is illustrated in traveling vehicle and is traveling under the situation on the unidirectional two-way traffic, the place ahead image by Figure 12 A and the road of the rear image reconstruction of Figure 12 B and the example of vehicle.
On screen, show in the driver auxiliary information of the aforesaid traveling vehicle of handling reconstruct by track and vehicle identification, also the information about the collision between traveling vehicle and the detected vehicle can be notified to the user.The operation that is used for conflict alert is described now with reference to Figure 13.
In the present invention, separation between vehicles uses continuous 5 times mean distance so that reduce the error of anti-perspective transform.In step 30, conflict alert generator 240 is estimated relative velocity by the mistiming between the image that uses acquisition and with the range difference of previous image.Shown in equation (9), separation between vehicles d that can be from previous frame
T-1With the separation between vehicles d in the present frame
tBetween poor, and the mistiming Δ between the image that obtains
tCalculate the relative velocity v between vehicle.
In step 32, shown in equation (10), conflict alert generator 240 is from the TTC between the vehicle of current distance and relative velocity estimation traveling vehicle and detection.
In step 34, conflict alert generator 240 is warned TTC according to warning zone and hazardous location to traveling vehicle with ad hoc fashion.Warn the zone to be set to the zone that vehicle is advanced within braking distance (breaking distance).In the warning zone, can set in advance the speech message that output is used to grip one's attention.The hazardous location is set to the zone that vehicle is advanced within-2 to 0 seconds TTC, output warning sound continuously can be set.
As mentioned above, the present invention can be reconstructed into the general view picture based on the sensing system that can remove the blind spot around the traveling vehicle and the method that can detect track and the vehicle definitely environment of will advancing, and provides conflict alert when colliding possibility when existing.Therefore, because the driver can easily recognize the information about blind spot, so the driver can operate blind spot under the state that anxiety alleviates by detection and conflict warning to the position of adjacent vehicle and relative velocity, and steering vehicle easily and safely.In addition, the present invention is based on the lane recognition method of the different kinds of roads environment of the line style that can be applicable to comprise the track, curvature, loss etc., integrate the recognition result of forward/rear vehicle, improve the stability of lane identification, and solid line track and dotted line track distinguished, thereby can provide the variation of hazard level to the driver.In addition, when vehicle during from deviation, exportable voice warning also is reconstructed into the general view picture with the vehicle location of road, thereby because the driver can recognize vehicle-state at a glance, so stability and convenience can be provided.
Although for the description of illustrative purpose the preferred embodiments of the present invention, but person of skill in the art will appreciate that: in not breaking away under the situation of disclosed scope and spirit of the present invention as claim, can carry out various modifications, interpolation and replacement, wherein, described claim comprises the four corner of its equivalent.
Claims (12)
1, a kind of equipment that is used to produce the driver auxiliary information of traveling vehicle, described equipment comprises:
At least one picture receiver, it is installed on the traveling vehicle to be used to take the forward/rear image, and wherein, picture receiver provides the forward/rear image of shooting;
At least one ultrasonic signal receiver, it is installed on the traveling vehicle, wherein, the ultrasonic signal receiver sends ultrasonic signal, and ultrasonic signal after another vehicle reflects based on hyperacoustic time of return computed range information;
The lane identification device is used for from forward/rear image detection track, determines whether the track of detecting is one of solid line track and dotted line track, and the recognition result of synthetic vehicle is to produce the image of road;
Car identifier, be used for being set to interesting areas by the lane identification result's road area that uses the lane identification device, by using image and ultrasonic signal to detect vehicle, by using the distance that obtains from the ultrasonic signal that receives by the ultrasonic signal receiver to detect vehicle, determine the trend of advancing of vehicle based on the change of distance, and export the position of vehicle in the vehicle coordinate system; And
The environment reconfiguration unit is used for producing driver auxiliary information by the image that will be applied to be thought highly of by lane identification structure by the vehicle that car identifier detects.
2, equipment as claimed in claim 1 also comprises: display unit is used to show the driver auxiliary information that is produced by the environment reconfiguration unit.
3, equipment as claimed in claim 1, wherein, when receiving the forward/rear image from picture receiver, the lane identification device changes according to the brightness of image and extracts the track candidate, produce the track candidate's who extracts histogram, determine to be adjacent to the position in the track of traveling vehicle, calculating is positioned at the track candidate's of long distance curvature, long by using the curvature of calculating to discern apart from the track, thus from forward/rear image detection track, wherein, long distance is greater than being convenient to determine long distance and short-range preset distance.
4, equipment as claimed in claim 3, wherein, discern by the curvature of calculating long apart from the track step in, compare when occurring surpassing the change of threshold value when the curvature of calculating in the curvature of in current image frame, calculating and the frame formerly, use in one group of track curvature the curvature that progressively increases from the curvature of current calculating to replace using the curvature of current image frame, calculating.
5, equipment as claimed in claim 1, wherein, the lane identification device is by zoning R and L
iThe solid line rate of ratio judge and be used for determining that described track is the solid line or the brightness of dotted line that wherein, the R indication comprises the zone in track, L
iIndication is actual part of drawing the track in region R, uses following equation to calculate the solid line rate:
Wherein, when solid line rate value during greater than threshold value, described track is a solid line.When solid line rate value was less than or equal to threshold value, described track was a dotted line.
6, equipment as claimed in claim 1, wherein, the lane identification device identifies another track and is present in and is adjacent to traveling vehicle just along its track of advancing, and produces the solid line track when the track that will be used to reconstructed image is dotted line in described another track.
7, a kind of method that produces driver auxiliary information by traveling vehicle, described traveling vehicle comprises: at least one picture receiver, it is installed on the traveling vehicle to be used to take the forward/rear image, and picture receiver provides the forward/rear image of shooting; At least one ultrasonic signal receiver, it is installed on the traveling vehicle, the ultrasonic signal receiver sends ultrasonic signal, and ultrasonic signal after another vehicle reflects based on hyperacoustic time of return computed range information, said method comprising the steps of:
From forward/rear image detection track;
Determine whether the track of detecting is one of solid line track and dotted line track;
The recognition result of synthetic forward/rear vehicle is to produce the image of road;
Be set to interesting areas by use lane identification result road area, and by using image and ultrasonic signal to detect vehicle;
By using the distance that obtains from the ultrasonic signal that receives by the ultrasonic signal receiver to detect right side/left side vehicle, determine the trend of advancing of vehicle based on the change of distance, and export the position of vehicle in the vehicle coordinate system; And
The image that is applied to reconstruct by the vehicle that will detect produces driver auxiliary information.
8, method as claimed in claim 7 also comprises: show the driver auxiliary information that produces.
9, method as claimed in claim 7 wherein, comprises from the step in forward/rear image detection track:
When receiving the forward/rear image, change according to the brightness of image and to extract the track candidate from picture receiver;
Produce the track candidate's who extracts histogram;
Determine to be adjacent to the position in the track of traveling vehicle, and calculate the track candidate's who is positioned at long distance curvature; And
Long apart from the track by using the curvature of calculating to discern, wherein, long distance is greater than being convenient to determine long distance and short-range preset distance.
10, method as claimed in claim 9, wherein, in by the long step of calculating of curvature identification apart from the track, compare when occurring surpassing the change of threshold value when the curvature of calculating in the curvature of in current image frame, calculating and the frame formerly, use in one group of track curvature the curvature that progressively increases from the curvature of current calculating to replace using the curvature of current image frame, calculating.
11, method as claimed in claim 7 wherein, is determining that the track of detecting is in the solid line or the step of dotted line, by zoning R and L
iThe solid line rate of ratio judge and be used for determining that described track is the solid line or the brightness of dotted line that wherein, the R indication comprises the zone in track, L
iIndication is actual part of drawing the track in region R, uses following equation to calculate the solid line rate:
Wherein, when solid line rate value during greater than threshold value, described track is a solid line.When solid line rate value was less than or equal to threshold value, described track was a dotted line.
12, method as claimed in claim 7, wherein, after whether the track of determine detecting is one step in solid line track and the dotted line track, identify another track and be present in and be adjacent to traveling vehicle, and when the track that will be used to reconstructed image is dotted line, in described another track, produce the solid line track just along its track of advancing.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| KR1020060063649A KR101075615B1 (en) | 2006-07-06 | 2006-07-06 | Apparatus and method for generating a auxiliary information of moving vehicles for driver |
| KR1020060063649 | 2006-07-06 |
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| Publication Number | Publication Date |
|---|---|
| CN101101333A true CN101101333A (en) | 2008-01-09 |
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ID=39035701
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|---|---|---|---|
| CNA200710128113XA Pending CN101101333A (en) | 2006-07-06 | 2007-07-06 | Apparatus and method for producing assistant information of driving vehicle for driver |
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| Country | Link |
|---|---|
| US (1) | US7710291B2 (en) |
| EP (1) | EP1918897A3 (en) |
| KR (1) | KR101075615B1 (en) |
| CN (1) | CN101101333A (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20080055114A1 (en) | 2008-03-06 |
| EP1918897A3 (en) | 2008-05-14 |
| US7710291B2 (en) | 2010-05-04 |
| KR101075615B1 (en) | 2011-10-21 |
| KR20080004835A (en) | 2008-01-10 |
| EP1918897A2 (en) | 2008-05-07 |
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